Balance Sheets Components - Additional Information (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Finite-Lived Intangible Assets [Line Items]
Depreciation expense	$ 3,300	$ 2,400	$ 6,500	$ 4,500
Amortization expense for intangible assets	700	400	1,300	700
Reduction in research and development expenses	26,567	22,017	51,024	42,612
Non-recurring Engineering Service Arrangements
Finite-Lived Intangible Assets [Line Items]
Reduction in research and development expenses	$ 500	$ 2,800	$ 1,700	$ 4,800